Today's winner was 150P 0.1I 1000D.  Tried FIR bandwidth from 0.85 - 0.95, but still only got useful results at 0.9.  Would say it doesn't react enough at 0.85 & reacts too far into the natural frequency at 0.95.  Tried smaller constants for FIR filtered angular rate feedback, but it was still worthless.  Leaning towards the steering being too slow to compensate for angular rate.  


The testing protocol has been driving in a straight line up & down the parking lot, looking for oscillations.  Then, driving in a straight line while holding the slow turn button or tapping the fast turn button to induce oscillations.  The camera mast has simulated a payload.

A new camera mast is needed for the gopro.  Not sure whether to build a whole new mast, a new head, or just mount the gopro at ground level as before.  The difference between ground level & mast so far has been having a video or nothing.